WO2013129494A1 - 操作入力部を備える挿入装置 - Google Patents

操作入力部を備える挿入装置 Download PDF

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Publication number
WO2013129494A1
WO2013129494A1 PCT/JP2013/055186 JP2013055186W WO2013129494A1 WO 2013129494 A1 WO2013129494 A1 WO 2013129494A1 JP 2013055186 W JP2013055186 W JP 2013055186W WO 2013129494 A1 WO2013129494 A1 WO 2013129494A1
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WO
WIPO (PCT)
Prior art keywords
bending
unit
rotation
dial
force
Prior art date
Application number
PCT/JP2013/055186
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English (en)
French (fr)
Japanese (ja)
Inventor
恵二朗 尾本
森山　宏樹
康弘 岡本
Original Assignee
オリンパスメディカルシステムズ株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by オリンパスメディカルシステムズ株式会社 filed Critical オリンパスメディカルシステムズ株式会社
Priority to CN201380011242.4A priority Critical patent/CN104135907B/zh
Priority to JP2013545574A priority patent/JP5583860B2/ja
Priority to EP13755253.5A priority patent/EP2821000A4/en
Publication of WO2013129494A1 publication Critical patent/WO2013129494A1/ja
Priority to US14/061,187 priority patent/US9237837B2/en

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • A61B1/0052—Constructional details of control elements, e.g. handles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00039—Operational features of endoscopes provided with input arrangements for the user
    • A61B1/00042—Operational features of endoscopes provided with input arrangements for the user for mechanical operation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/0016—Holding or positioning arrangements using motor drive units
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
    • G02B23/24—Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes
    • G02B23/2476—Non-optical details, e.g. housings, mountings, supports

Definitions

  • the present invention relates to an insertion device including an operation input unit that maintains a bending state of a bending portion even when a hand is released during operation and returns to a range including a neutral position when a predetermined bending operation range is exceeded.
  • an insertion device that enters into a body cavity or a duct having a curved portion and performs visual observation.
  • this insertion apparatus there is an endoscope apparatus for medical use or industrial use that is provided with an insertion part that is elongated and flexible and has a bending part at a distal end part.
  • the bending portion provided on the distal end side of the insertion portion is bent in the vertical direction and the horizontal direction by operating the operation portion.
  • the body cavity is being pushed in.
  • Patent Document 1 Japanese Patent Laid-Open No. 2008-264107
  • a bending portion and a bending operation portion are connected by an operation wire, and the bending portion is bent by pulling the operation wire with the bending operation portion.
  • An endoscopic device is disclosed.
  • a bending operation dial that is rotated is used as the bending operation unit, and input is performed by an operation of a plurality of rotations of one rotation (360 °) or more of the dial.
  • the operation dial is configured to rotate more than one rotation (360 degrees or more) as in Patent Document 1 described above, the operator repeats the rotation direction of the operation dial and repeatedly performs the rotation operation. It becomes difficult to understand the neutral position, and it is difficult to grasp the actual bending state of the bending portion. In this case, the operator once performs the bending operation again after returning the operation dial to the neutral position while visually recognizing.
  • Patent Document 2 Japanese Patent Laid-Open No. 2009-226125 proposes an operation unit of an endoscope apparatus including an urging mechanism that returns the UD or RL operation dial of the operation unit to a neutral position.
  • the operation unit has an urging mechanism in which two spiral springs wound in opposite directions are opposed to each other, each inner end is attached to the rotation shaft of the operation dial, and each outer end is attached to the fixing member. ing.
  • the elastic force (biasing force) of the spring is adjusted so as to balance at the neutral position of the operation dial (initial position: a state where the curved portion is linearly extended).
  • the operation dial is turned in this configuration, one spring acts to expand the vortex and the other spring narrows the vortex.
  • the operation dial determines the neutral position based on the balance of elastic force using two springs in which elastic force acts in opposite directions. For this reason, when it deviates from a neutral position, the elastic force which always tries to return is working. For this reason, due to operational reasons, even when the finger is momentarily released from the operation dial, the operation dial starts to return, the distal end position of the insertion portion moves, and the observation target site deviates from the observation field of view. .
  • the present invention maintains the state of the dial portion that rotates and indicates the bending operation of the insertion portion within a predetermined rotation angle range, and when the dial portion is rotated out of the range, the indication position of the dial portion is initialized.
  • an insertion device including an operation unit that returns the rotation angle within a range including a position.
  • an insertion device includes a bending portion provided on a distal end side of an insertion portion to be inserted into a body cavity, a driving unit that generates a driving force for bending the bending portion, and a bending portion provided in the bending portion.
  • a bending mechanism that is arranged and bends the bending portion based on the driving force, an operation input portion that inputs a rotation angle associated with the bending angle of the bending portion by a rotation operation, and the operation input that rotates by the rotation operation
  • An operation input unit provided with a return force generating unit that generates a return force that returns the unit to a rotation range including a predetermined neutral position.
  • an insertion device including an operation unit for returning to a rotation angle range including an initial position.
  • FIG. 1 is a diagram illustrating an external configuration of the insertion device according to the first embodiment.
  • FIG. 2 is a diagram illustrating a configuration related to a bending operation in the vertical direction of the bending portion in the bending portion, the flexible tube portion, and the endoscope apparatus according to the first embodiment.
  • FIG. 3 is a diagram illustrating a configuration related to a bending operation in the left-right direction of the bending portion in the bending portion, the flexible tube portion, and the endoscope apparatus according to the first embodiment.
  • FIG. 4 is a diagram schematically showing a transmission structure of a drive mechanism for RL bending operation inside the endoscope main body.
  • FIG. 5 is a diagram showing an endoscope main body held by an operator's hand and the inside thereof.
  • FIG. 6 is a perspective view of the RL operation input unit.
  • FIG. 7 is a perspective exploded view of the RL operation input unit.
  • FIG. 8 is a front view and an exploded view of the RL operation input unit.
  • FIG. 9 is an exploded view of the CCW lead unit.
  • FIG. 10 is a perspective view of the CCW lead unit.
  • FIG. 11A is a schematic view showing a spiral groove of the CW lead unit and the CCW lead unit developed linearly.
  • FIG. 11B is a schematic diagram illustrating a state in which a return elastic force is applied when the lever is moved in FIG. 11A.
  • FIG. 12A is a top view showing a return mechanism of the CW lead unit unit.
  • FIG. 12B is a top view showing the return mechanism of the CCW lead unit unit.
  • FIG. 12A is a top view showing a return mechanism of the CW lead unit unit.
  • FIG. 12B is a top view showing the return mechanism of the CCW lead unit unit
  • FIG. 13 is a top view showing a return mechanism of a modified CW lead unit.
  • FIG. 14 is a block diagram illustrating a schematic configuration of an endoscope apparatus according to the second embodiment.
  • FIG. 15A is a diagram illustrating a first modification of the operation dial of the endoscope body according to the second embodiment.
  • FIG. 15B is a diagram illustrating a second modification of the operation dial of the endoscope body according to the second embodiment.
  • FIG. 16 is a diagram showing an external configuration of the operation input unit.
  • FIG. 17 is a diagram illustrating the internal configuration of the operation input unit with the case removed.
  • FIG. 18 is a diagram illustrating an assembly configuration of the operation input unit.
  • FIG. 19 is a diagram illustrating a neutral return characteristic.
  • FIG. 15A is a diagram illustrating a first modification of the operation dial of the endoscope body according to the second embodiment.
  • FIG. 15B is a diagram illustrating a second modification of the operation dial of the endoscope body according to
  • FIG. 20 is a diagram illustrating an external configuration of an operation input unit of an endoscope main body according to the third embodiment.
  • FIG. 21 is a diagram illustrating an assembly configuration of the operation input unit.
  • FIG. 22 is a view for explaining a method of assembling the spiral spring to the cylindrical cap and the fixed platen.
  • FIG. 23 is a diagram illustrating the neutral return characteristics of the third embodiment.
  • FIG. 24 is a diagram illustrating an external configuration of an endoscope main body according to the fourth embodiment.
  • FIG. 25 is a diagram illustrating an arrangement configuration example of an input operation portion and a neutral return mechanism in an input unit arranged separately in the operation unit.
  • FIG. 26 is a diagram conceptually showing an arrangement relationship between the input operation portion and the neutral return mechanism in the input unit arranged on the board viewed from the board front in the operation unit.
  • FIG. 27 is a diagram conceptually showing an arrangement relationship between an input operation portion arranged on the substrate viewed from the substrate side surface in the operation unit and the neutral return mechanism.
  • FIG. 28A is a diagram showing a detailed configuration of the input operation part.
  • FIG. 28B is a diagram illustrating an appearance of an exterior bracket.
  • FIG. 28C is a diagram illustrating a configuration of the operation body.
  • FIG. 29A is a diagram illustrating an external configuration of the neutral return mechanism as viewed from above.
  • FIG. 29B is a diagram showing an external configuration viewed from the side of the neutral return mechanism.
  • FIG. 30A is a diagram illustrating a state of the neutral return mechanism that suppresses loosening of the wire near the neutral position of the operation dial.
  • FIG. 30B is a diagram showing a state where the neutral return mechanism within the engagement range centered on the neutral position does not return due to the braking force acting on the operation dial.
  • FIG. 30C is a diagram illustrating a state in which the neutral return mechanism is restored by rotating the operation dial and applying an elastic force exceeding the braking force.
  • FIG. 31 is a diagram illustrating a conceptual configuration of an input unit on which the brake mechanism according to the fifth embodiment is mounted.
  • FIG. 32A is a view of the brake mechanism as viewed from the front side.
  • FIG. 32B is a side view of the brake mechanism.
  • FIG. 32C is a view of the brake mechanism as viewed from obliquely above.
  • FIG. 32D is a diagram of the brake mechanism as viewed from obliquely below.
  • FIG. 32E is a view of the brake mechanism as viewed from the back side.
  • FIG. 33A is a diagram of the brake mechanism according to the sixth embodiment viewed from the front side.
  • FIG. 33B is a side view of the brake mechanism shown in FIG. 33A.
  • FIG. 34A is a view of the brake mechanism provided in the operation unit of the seventh embodiment as viewed from the front side.
  • FIG. 34B is a diagram showing a detailed configuration of the brake mechanism shown in FIG. 34A.
  • FIG. 35A is a diagram of the brake mechanism provided in the operation unit according to the eighth embodiment as viewed from the front side.
  • FIG. 35B is a diagram showing a detailed configuration of the brake mechanism shown in FIG. 35A.
  • FIG. 36A is a diagram illustrating a conceptual configuration of a brake mechanism provided in the operation unit according to the ninth embodiment.
  • FIG. 36B is a diagram illustrating a state of the elastic member when the operation dial illustrated in FIG. 36A is rotated in the m direction.
  • FIG. 36C is a diagram illustrating a state of the elastic member when the operation dial illustrated in FIG. 36A is rotated in the n direction.
  • FIG. 37 is a diagram illustrating a conceptual configuration of a neutral return mechanism provided in the operation unit according to the tenth embodiment.
  • FIG. 38 is a diagram illustrating a conceptual configuration of a neutral return mechanism provided in the operation unit according to the eleventh embodiment.
  • FIG. 39 is a diagram illustrating a conceptual configuration of a neutral return mechanism provided in the operation unit according to the twelfth embodiment.
  • FIG. 40 is a diagram illustrating a conceptual configuration of a neutral return mechanism provided in the operation unit according to the thirteenth embodiment.
  • FIG. 41 is a diagram illustrating a conceptual configuration of the input operation portion 97 of the input unit of the operation unit according to the fourteenth embodiment.
  • FIG. 42A is a diagram illustrating a conceptual configuration of a neutral return mechanism provided in the operation unit according to the fifteenth embodiment.
  • FIG. 42B is a diagram illustrating a return range when the operation dial is rotated.
  • FIG. 42C is a diagram showing a cross section [AA] of FIG. 42A.
  • FIG. 1 is a diagram showing an external configuration of an endoscope apparatus according to one embodiment of the present invention.
  • the endoscope apparatus 1 is roughly classified into an insertion part 2 for inserting the distal end side into the body cavity, an endoscope main body 4 including the operation part 3 connected to the proximal end side of the insertion part 2, and an endoscope.
  • a universal cord 5 including a light guide extending from the mirror body 4 and a signal cable.
  • the endoscope body 4 uses a connector with each device mounted on the trolley 58 and a universal cord 56 including a light guide and an electric cable. Are detachably connected.
  • each device at least a light source device that guides illumination light, a video processor device that converts an image captured by the endoscope body 4 into an image signal for display, and an image based on the image signal output by the video processor device A monitor 57 for displaying is used.
  • the insertion portion 2 is an elongated tubular portion on the distal end side of the endoscope that is inserted into a body cavity or the like.
  • the insertion portion 2 includes a distal end portion 6 disposed at the forefront, a bending portion 7 provided on the proximal end side of the distal end portion 6, and a long flexible tube portion provided on the proximal end side of the bending portion 7. 8.
  • the front end portion 6 is a hard portion whose outer peripheral surface is made of a hard material such as stainless steel and is covered with a synthetic resin front end portion cover.
  • a solid-state image pickup such as an observation optical system including an objective lens disposed on the front end surface and a CCD that forms an optical image obtained from the observation optical system and converts the optical image into an electric signal.
  • An element, an illumination optical system including an illumination lens disposed on the tip surface, a light guide for guiding illumination light from the light source device to the illumination optical system, a forceps channel for inserting forceps, and the like are disposed.
  • FIGS. 2 and 3 are diagrams schematically illustrating a configuration of the bending portion 7, the flexible tube portion 8, and the endoscope body 4 regarding the bending operation of the bending portion 7.
  • a plurality of metal node rings 9 are connected in the longitudinal axis direction so as to be continuous. Specifically, it is a bending mechanism that is shifted 90 degrees in the radial direction between the node rings 9 sequentially, and has two joints at opposing positions, and is connected to a substantially coaxial axis so as to be rotatable relative to each other.
  • These connecting node rings 9 are covered with a curved blade in which a fine wire or the like is knitted into a cylindrical shape. Further, the curved blade is water-tightly covered with a sheet-like member made of flexible fluoro rubber or the like.
  • the flexible tube portion 8 is a long flexible tube made of fluororesin or the like and having flexibility.
  • the angle wires which will be described later, are connected to each node ring of the bending mechanism, and bends so as to bend between the joints by pulling each angle wire.
  • the tip of the UD (UP / DOWN) angle wire 10 is connected to the most advanced bending piece 9 a at a position corresponding to the vertical direction of the bending portion 7.
  • the tip of the RL (RIGHT / LEFT) angle wire 11 is connected to the most advanced bending piece 7 a at a position corresponding to the left-right direction of the bending portion 7.
  • the UD angle wire 10 passes through the flexible tube portion 8 from the most advanced bending piece 9a of the bending portion 7 and extends into the endoscope body 4, and its base end is a rotating drum. 12 is wound.
  • a rotating shaft of a UD operation dial 14 for operating the bending (angle) of the bending portion 7 in the vertical direction is attached to the rotating shaft 13 of the rotating drum 12. Therefore, when the UD operation dial 14 is rotated, the bending portion 7 is bent upward or downward.
  • the RL bending operation wire 11 extends from the most distal bending piece 9a of the bending portion 7 through the flexible tube portion 8 into the endoscope main body 4, and its proximal end. Is coupled to the chain 15 via a connecting member.
  • the chain 15 is wound around a sprocket 16, and the sprocket 16 is connected to an RL bending drive unit 17.
  • FIG. 4 is a diagram schematically showing a transmission structure of the RL bending drive unit 17 inside the endoscope body 4.
  • FIG. 5 is a view showing the endoscope body 4 including the grip portion 24 and the operation portion 3 held by the operator's hand, and the inside thereof.
  • the RL curving drive unit 17 illustrated in FIG. 4 includes a driving force transmission mechanism and an RL curving drive motor 21.
  • the driving force transmission mechanism includes a sprocket 16 on which a chain 15 is hung, a worm wheel 19 coaxially connected to the sprocket 16 and a shaft 18, and a worm gear 20 that meshes with the worm wheel 19.
  • the RL bending drive motor 21 is connected to the worm gear 20.
  • the power cable of the motor 21 is connected to the RL curving controller (not shown) from the tip of the electric cable in the universal cord 5.
  • an operation input unit (RL operation input unit) 22 that performs an RL operation that indicates a bending amount (bending angle) of the bending portion by a rotating operation is also connected to the RL bending controller by the universal cord 5.
  • the input unit is described as an RL operation input unit.
  • the input unit can be used as a UD operation input unit.
  • the RL bending controller drives the motor 21 according to the bending operation signal. Then, the motor 21 generates a driving force for bending the bending portion 7 in the left-right direction, and the RL angle wire 11 is pulled through the driving force transmission mechanism. In this way, the bending portion 7 is electrically bent in one axial direction, that is, in the left direction or the right direction, according to the bending direction and the operation amount due to the rotation operation of the operation input unit 22.
  • the bending operation in the vertical direction and the horizontal direction is not equal, the main operation is the bending operation in the vertical direction, and the bending in the horizontal direction The operation is often used as an auxiliary during observation.
  • the bending operation in the vertical direction is a manual operation mechanism, and the bending operation in the horizontal direction is motorized.
  • the present invention is not limited, and motorization may be performed for both dials.
  • a support portion 23 that supports the proximal end of the flexible tube portion 8 is provided.
  • the distal end of the support portion 23 is tapered toward the proximal end of the flexible tube portion 8.
  • a grip portion 24 that is gripped by the operator is provided as shown in FIG.
  • the grasping portion 24 is provided with a forceps insertion port 25 communicating with the above-described forceps channel formed in the insertion portion 6.
  • a treatment tool such as an ultrasonic probe or biopsy forceps is inserted into the forceps insertion opening 25 to treat a lesion in a body cavity.
  • an operation unit 3 for performing various operations of the endoscope apparatus 1 including a bending operation of the bending unit 7 is provided.
  • the operation unit 3 includes the above-described UD operation dial 14, the above-described operation input unit 22, the air / water supply button 26, the suction button 27, the UD bending operation fixing lever 28, the function switches 29 and 30, and the motor. And a drive unit 31 in which a drive source such as the same is accommodated.
  • the UD operation dial 14 is rotatably provided on a first shaft portion projecting from one side surface of the operation unit 3, and as shown in FIG. 5, an operation of holding the grip unit 24 with one hand (left hand). It is rotated by putting the fingertip of the thumb of one hand of the person. Thereby, the above-mentioned UD angle wire 10 is operated, and the bending portion 7 moves upward or downward.
  • the UD bending operation fixing lever 28 is a brake that fixes the bending portion 7 at a desired angle.
  • the function switch 29 is disposed on the upper surface of the UD operation dial 14.
  • the function switch 29 is assigned with functions such as taking an image of the observation site and enlarging the image. Further, another function switch 30 to which functions such as photometry switching and image stillness are assigned is also arranged on the side surface where the air / water supply button 26 and the suction button 27 are provided.
  • the operation input unit 22 is a second projection that protrudes in the longitudinal axis direction of the endoscope body 4 from the grip 24 side than the position where the UD operation dial 14 is provided. It is rotatably provided on the shaft portion. That is, it is arranged below the air / water supply button 26 and the suction button 27 so as to have a rotation axis substantially parallel to the longitudinal axis direction of the grip portion 24.
  • the operation input unit 22 is also configured such that an operation input is performed in a direction substantially orthogonal to the longitudinal axis of the gripping portion 24 by a middle finger or the like other than the thumb of the one hand of the operator holding the gripping portion 24 with one hand. It is rotated.
  • the operation input unit 22 is disposed in a range that can be operated by a middle finger or the like other than the thumb of one hand of the operator holding the grip portion 24 with one hand.
  • the universal cord 5 in which the motor 21 for driving the RL curve described above and the motor storage portion 31 in which the motor 21 is stored extend in a substantially orthogonal direction from the endoscope body 4 extending in the longitudinal axis direction. Are arranged along.
  • FIG. 6 is a perspective view illustrating an overall external configuration of the operation input unit 22 that performs the RL operation of the present embodiment.
  • FIG. 7 is an exploded perspective view of the operation input unit 22.
  • FIG. 8 is a front view and an exploded view of the RL operation input unit 22.
  • the operation input unit 22 includes an operation dial 32, a CCW lead unit 33, a washer 34, a lever 35, a CW lead unit 36, a fixing screw 37, a potentiometer 38, and a rubber cover 39. And have. These constituent members are integrally assembled to constitute the operation input unit 22.
  • the operation dial 32 is a cylindrical cover member.
  • a CCW lead unit 33, a washer 34, a lever 35 and a CW lead unit 36 are accommodated in the operation dial 32.
  • the operation dial 32 in which these are accommodated is attached to the fixing screw 37 so as to be rotatable in the radial direction.
  • the fixing screw 37 is connected to a potentiometer 38 whose outer peripheral surface is covered with a rubber cover 39.
  • the potentiometer 38 whose outer peripheral surface is covered with a rubber cover 39.
  • the potentiometer 38 a rotary Hall sensor or the like may be used.
  • FIG. 9 is an exploded view of the CCW lead unit 33.
  • FIG. 10 is a perspective view of the CCW lead unit 33.
  • the CCW lead unit 33 includes a lower CCW fixing plate 40, an upper CCW lead plate 42, a spring 43 as an elastic member, and a pin 44.
  • the CCW lead plate 42 is a frame in which a spiral groove 41 is formed in the CCW direction.
  • the spring 43 is attached and housed at one end in the groove 41 and acts as an elastic member incorporated in a predetermined range in the groove 41.
  • the pin 44 is a contact portion that slides along the groove 41 and contacts the spring 43.
  • the CCW fixing plate 40 and the CCW lead plate 42 are assembled by being screwed together on the outer peripheral surface of the upper CCW lead plate 42 covered with the lower CCW fixing plate 40.
  • the CW lead unit 36 has the same configuration as the CCW lead unit 33. That is, the CW lead unit 36 includes a lower CW fixing plate 45, an upper CW lead plate 47 in which a spiral groove 46 is formed in the CW direction, a spring 48 incorporated in the groove 46, and a groove 46. And a pin 49 as an abutting portion that abuts against the spring 48.
  • a lever 35 is disposed as an action part that applies force to the pin 44 and the pin 49 via the washer 34.
  • the lever 35 has a shape having an extended portion that is partially extended in the radial direction from the ring shape.
  • the lever 35 is disposed so as to be able to contact both the lower pin 44 and the upper pin 49.
  • FIG. 11A and FIG. 11B are schematic views showing a return mechanism of the CCW lead unit 33 and the CW lead unit 36.
  • the spiral grooves 41 and 46 of the CCW lead unit 33 and the CW lead unit 36 are shown in a straight line.
  • the springs 43 and pins 44 of the CCW lead unit 33 and the springs 48 and pins 49 of the CW lead unit 36 are arranged symmetrically with respect to the lever 35 and divided into upper and lower parts.
  • the length region in which the spring 43 of the CCW lead unit 33 is in the natural length state is the region A
  • the length region in which the spring 48 of the CW lead unit 36 is in the natural length state is the region C.
  • a region between the region C and the region C is a region B.
  • the neutral position of the operation dial 32 and the lever 35 is the center position of the region B.
  • the region A is a range where the elastic force of the spring 48 is applied
  • the region C is a range where the elastic force of the spring 43 is applied
  • the region B is a range where the elastic force of the springs 43 and 48 does not act.
  • the range L of the region B is set by the positional relationship between the neutral position and the lever 35 when the springs 43 and 48 are in the natural length state. For example, by placing the neutral position and the lever 35 when the springs 43 and 48 are in the natural length state apart from each other, the desired curved state of the bending portion 7 can be included in this range, By disposing them without being separated from each other, the operation dial 32 and the lever 35 are always returned to the neutral position, and the bending portion 7 can be returned to the uncurved state.
  • the operation dial 32 and the lever 35 are in the neutral position
  • the bending portion 7 is in a state in which the bending angle in the left-right direction is 0 °, that is, not bent in the left-right direction.
  • the spring 48, the lever 35, and the pin 44 function as a return force generator that generates a return force that attempts to return the operation dial 32 toward the neutral position.
  • the return force is a force that causes the operation dial 32 to return to a preset range or rotation angle including a neutral position.
  • the bending portion 7 returns to the left-curved state (including the straight line state) within the preset angle range (region B).
  • the lever 35 pushes the pin 49 and compresses the spring 48.
  • the bending part 7 curves in the right direction, for example.
  • the rotation range is determined in advance and includes the neutral position and the position of the operation dial 32 is maintained.
  • the bending portion 7 has a right bending state (including a straight line state) within a preset angle range (region B).
  • the spring 48, the lever 35, and the pin 49 function as a return force generator that generates a return force that attempts to return the operation dial 32 toward the neutral position.
  • the return force is a force that causes the operation dial 32 to return to a preset range or rotation angle including a neutral position.
  • FIG. 12A and 12B are top views showing an actual state of the above-described return mechanism in the CCW lead unit 33 and the CW lead unit 36.
  • FIG. 12A and 12B are top views showing an actual state of the above-described return mechanism in the CCW lead unit 33 and the CW lead unit 36.
  • FIG. 12A and 12B are top views showing an actual state of the above-described return mechanism in the CCW lead unit 33 and the CW lead unit 36.
  • FIG. When the operation dial 32 is rotated clockwise, the lever 35 is also rotated clockwise and comes into contact with the pin 49. When the lever 35 is released from the operation dial 32 while the spring 48 is compressed via the pin 49, the lever 35 is returned counterclockwise and returned to the range where the elastic force from the spring 48 does not reach.
  • the bending operation in the left-right direction in the bending portion is motorized, and the bending operation is performed with one hand holding the endoscope device.
  • a small rotary operation dial is used so that it can be operated with the dial.
  • the rotation amount of the operation dial is set to a plurality of rotations with respect to the bending angle. That is, it is desirable to increase the ratio between the rotation amount of the operation dial and the bending angle (for example, the bending angle of the insertion portion 1: the operation angle 3 of the operation dial).
  • the operation dial is rotated a plurality of times, the operator cannot easily detect the amount of bending of the bending portion from the state of the operation dial, and the operation tends to be uneasy.
  • the RL operation dial that is a bending operation input unit is a small-sized multi-rotation operator that can be operated with one hand, but when the operator releases the hand from the RL operation dial, the left direction and the right In any state of bending in any direction, the bending portion returns to the predetermined bending state toward the neutral position, so that the operator can operate without hesitation.
  • the RL operation dial can be set so as to return from 0 ° to a predetermined range of bending angles, instead of returning completely to the neutral position (ie, the bending angle of 0 °).
  • the range of the bending angle can be set to ⁇ 75 ° or ⁇ 90 °, for example. In this range, it is generally unnecessary to return to the neutral position in this range, and conversely, an engagement function that locks the bending portion at an arbitrary bending angle is easier to perform insertion or treatment into the body cavity. It depends.
  • the RL operation dial functions as a return mechanism that returns the bending portion to the uncurved state or an engagement mechanism that locks the bending portion in a desired bending state.
  • FIG. 13 is a top view showing a return mechanism of the CW lead unit 36 in a modification of the present embodiment.
  • springs 48 a and 48 b are respectively incorporated in predetermined ranges in the groove 46 from both end sides in the groove 46 of the CW lead unit 36.
  • pins 49a and 49b that slide with respect to the groove 46 and abut against the springs 48a and 48b, respectively, are provided. Even with such a configuration, the lever 35 can return to a range where the force from the springs 48a and 48b does not reach in both rotation directions.
  • FIG. 14 is a block diagram illustrating a schematic configuration of an endoscope apparatus according to the second embodiment.
  • the same reference numerals are given to the constituent parts equivalent to those of the first embodiment described above, and the detailed description thereof is omitted.
  • the endoscope body 4 is detachably connected to each device mounted on the trolley 58 using a connector with a universal cord 56 including a light guide and an electric cable.
  • a light source device that guides illumination light
  • a video processor device that converts an image captured by the endoscope body 4 into an image signal for display, and an image based on the image signal output by the video processor device A monitor 57 for displaying is used.
  • the RL operation dial 55 and the UD operation dial 14 are both provided with the operation input unit 22 and are electrically driven.
  • the configuration of the operation unit 3 is the same as that shown in FIG.
  • the RL bending drive unit 17 is equivalent to the configuration shown in FIG.
  • a sensor 57 for detecting the rotation amount (position) of the pulleys 54a and 54b is provided.
  • the motors 53a and 53b are connected to the RL bending controller (not shown) from the tip of the electric cable in the universal cord 5.
  • the input unit 22 for RL operation is also connected to the RL bending controller by the universal cord 5.
  • the RL bending controller drives the motor 53b according to the bending operation signal. Then, the motor 53b generates a driving force for bending the bending portion 7 in the left-right direction, and the RL angle wire 11b is pulled through the driving force transmission mechanism. In this way, the bending portion 7 is electrically bent in one axis direction, that is, in the left direction or the right direction, according to the bending direction and the operation amount of the operation input unit 22 by the rotation operation.
  • the UD bending controller operates in accordance with the bending operation signal. 53a is driven. Then, the motor 53a generates a driving force that bends the bending portion 7 in the vertical direction, and the UD angle wire 11a is pulled through the driving force transmission mechanism. In this way, the bending portion 7 is electrically bent in one axis direction, that is, in the left direction or the right direction, according to the bending direction and the operation amount of the operation input unit 22 by the rotation operation.
  • a star-shaped UD operation dial 14 is provided on the side surface of the operation unit 3, and an operation for performing a cylindrical RL operation for bending in the left-right direction at the center of the upper surface.
  • a dial 55 is attached.
  • the operation dial 55 corresponds to the dial cover 73 of the operation input unit 22, is attached to the casing of the operation unit 3, and is attached in a form in which a potentiometer 62 is housed inside the casing.
  • FIG. 15B shows an example of the operation unit 3 shown in FIG. 15B, the UD operation dial 14 is attached to the casing side of the operation unit, and the operation dial 55 (the operation input unit 22) is smaller than the UD operation dial 14 on the same rotation axis. ) Are arranged on the outside.
  • FIG. 16 shows an external configuration of the operation input unit 22
  • FIG. 17 is a diagram showing an internal configuration of the operation input unit 61 with the case removed.
  • FIG. 18 is a diagram illustrating an assembly configuration of the operation input unit 61.
  • the operation input unit 61 has a technical feature that the operation input unit 61 returns to a predetermined neutral position (initial position) when the accumulated rotation operation of the dial unit 63 as an operation unit exceeds a predetermined rotation angle range. Yes.
  • the predetermined neutral position here refers to an initial position where the bending portion 7 is in a state of extending substantially linearly.
  • the operation input unit 61 includes a potentiometer 62 and a dial part (dial position return part) 63.
  • the potentiometer 62 has a known configuration and is a part that indicates the position (rotation angle) of the output shaft 64 by a change in voltage. For example, in a state where a reference voltage is applied to a fixed electrode (for example, a fixed resistance portion), linear output is performed according to a position where the movable electrode provided on the output shaft is in contact with the fixed electrode, that is, the rotation angle of the output shaft. Since the value changes, the rotation angle of the output shaft can be calculated from the output voltage value by associating the output voltage with the angle in advance.
  • a fixed electrode for example, a fixed resistance portion
  • the dial part 63 includes a restoring force generator and a rotational resistance generator.
  • the restoring force generator includes an ST nut 66, coil springs 69 (69a and 69b) that are elastic members, a spring plate 68, a D plate 71, a coil hook plate 70, a dial cover 73, and a screw for fixing them. 74.
  • the ST nut 66 is a member for attaching the endoscope operation unit 3 to the casing.
  • the ST nut 66 has a cylindrical shape in which a through hole for allowing the output shaft 64 of the potentiometer 62 to rotate therethrough is formed at the center.
  • the tube upper side of the ST nut 66 has a stopper shape having a flange, and a portion having a larger diameter above the flange portion has a polygon, for example, a hexagon or an octagon.
  • An annular groove is formed on the inner surface of the through hole, and an O-ring 67 made of an elastic member having a large friction coefficient (sliding resistance) such as a rubber material, which becomes a rotation resistance generating portion, is fitted in the annular groove.
  • This groove is formed by adjusting the depth of the groove so that when the O-ring 67 is fitted, about half of the diameter ⁇ of the O-ring 67 is exposed.
  • the spring plate 68 is screwed under the ST nut 66.
  • the D plate 71 is rotatably assembled below the ST nut 66, and the coil hook plate 60 is assigned to each of the lower side surfaces of the D plate 71 and screwed.
  • Screw receivers 72 a and 72 b are provided on the bottom surface of the D plate 71.
  • a hole (bottomed hole) into which the output shaft 64 of the potentiometer 62 is fitted is formed in the center of the D plate 71, and a horizontal hole formed in the lateral direction is formed in the vicinity of the bottom.
  • This lateral hole is formed in order to connect the fitted output shaft 64 to the D plate 71.
  • the output shaft 64 and the D plate 71 are engaged by screwing with a screw 65 such as a hexagon socket set screw through a lateral hole in a screw hole formed at the tip side of the output shaft 64.
  • the spring plate 68 and the coil hook plate 70 are each provided with a hook portion.
  • the metal coil spring 69 (69a, 69b) is hooked between these hook portions so as not to come off.
  • the restoring force to be described later is generated using two coil springs 69a and 69b.
  • the number of coil springs used is not limited, and a configuration using one coil spring is also possible. Further, a configuration using three or more coil springs may be used.
  • the potentiometer 64 is fixed to the flange portion of the ST nut 66.
  • the O-ring 67 fitted in the groove has an outer portion of about half exposed, and when the dial cover 73 is covered, it is pushed from the inner surface of the cover and slightly deformed. This deformed portion serves as a rotation resistance generating portion, and generates a locking force (engagement) against rotation due to sliding resistance, that is, a rotation resistance force.
  • the inner surface of the cover that comes into contact with the O-ring 67 may be formed or processed so that the surface becomes rough so that the sliding resistance increases. For example, there is blasting or formation of a groove pattern (for example, a plurality of parallel grooves in a direction orthogonal to the sliding direction of the O-ring 67).
  • the D plate 61 is fixed to the dial cover 73 and the screw 74.
  • the D plate 71, the output shaft 64, and the dial cover 73 are integrally coupled, and can be rotated as an ST nut 66.
  • the operation input unit 22 configured in this manner has a potentiometer inside the casing by fitting an ST nut into a mounting hole opened in the casing of the operating section 3 so that the dial section 63 is exposed to the outside. 62 is mounted in a stored state.
  • the dial cover 73 may be an operation dial 55 as shown in FIG. 15B.
  • the holding position of the dial portion 63 rotated by the operator is set by adjusting the elastic force of a coil spring, which will be described later, and the pressure (sliding resistance force or coefficient of friction) on the inner surface of the cover of the O-ring 67, etc. It can be defined by the neutral return characteristics.
  • the neutral return characteristic by the combination of the rotational resistance (sliding resistance) characteristic of the O-ring 67 and the spring characteristic (rotational torque characteristic) of the coil spring 69 will be described.
  • the horizontal axis indicates the rotation angle of the dial portion 63 by rotation and the angle rotation angle of the bending portion relative to the rotation angle (that is, the bending angle), and the vertical axis acts on the dial portion 63.
  • the rotational torque is shown.
  • a force that returns the dial portion 63 to a set range or rotation angle including the initial position (neutral position) is referred to as a restoring force.
  • This restoring force is the elastic force of the elastic member, in the present embodiment, the coil spring.
  • a force by a tube covering the bending mechanism or a force repelling the elongation of the angle wire may be applied, and in the present embodiment, these forces are not considered.
  • a spring that uses elasticity due to expansion or contraction is used, but in addition, an elastic member that uses elasticity due to twisting may be employed.
  • the dial part 63 rotates in both directions of CW (clockwise) and CCW (counterclockwise) around the neutral position (0 degree). Further, when the dial part 63 has a maximum rotation angle of MAX ⁇ 540 degrees, the angle rotation angle ⁇ of the bending part is set to be MAX ⁇ 160 degrees. Note that the maximum rotation angle of the dial portion 63 and the bending angle (angle rotation angle) of the bending portion are design matters and are appropriately set angles.
  • the neutral return characteristic of this embodiment will be described.
  • the spring characteristic shown in FIG. 19 is an elastic force generated by the coil spring 69 which is an elastic member used in the present embodiment, and acts on the dial portion 63.
  • This spring characteristic has a linear V shape in which the rotational torque T at the neutral position of the dial portion 63 is 0 (or in the vicinity of 0), and the rotational torque T at the maximum angle is ⁇ Tmax.
  • the rotational resistance force To is shown as a sliding resistance characteristic of the O-ring 67, specifically, is a sliding resistance between the O-ring 67 and the inner surface of the cover, and takes a constant value.
  • the rotational torque T falls below the rotational resistance force To as a reference, the rotational resistance force is won, and the ST nut and the dial cover 73 (rotary shaft 4) do not slip and the position (rotation angle) is maintained. That is, even when the operator releases his hand from the dial part 63 (or the operation dial), the bending state of the bending part 7 is maintained.
  • the angle rotation angle ⁇ ⁇ in the curved portion 7 at the dial rotation angle ⁇ ⁇ r the rotation angle ranges corresponding to ⁇ Tmax to ⁇ r and ⁇ r to Tmax are set as the neutral return range (engage free range).
  • the engagement range is set within a rotation angle of ⁇ 90 degrees around the neutral position.
  • This engagement range is set based on the bending state of the bending portion that is easy to approach the observation target to be treated and observed.
  • the return position can be set freely, and can be set so as to return to the neutral position (initial position) or a position in the vicinity thereof.
  • the endoscope apparatus of the present embodiment can be grasped and operated with one hand of the operator by realizing the downsizing of the operation unit and by electrically operating the operation unit. Since the operation input unit 1 is mounted on the endoscope apparatus, the exposed member is formed using a material that can withstand sterilization cleaning and the like, and has a watertight structure.
  • the engagement range is set for the dial part and operation dial, if the rotation angle is within that engagement range, even if the operator temporarily releases the dial part or operation dial, the rotation Since the angle position is maintained, the bending state of the bending portion is maintained, and the observation can be continuously performed without the target site that has been observed so far coming out of the observation field of view.
  • the operation dial or dial part that has been rotated to the set neutral return range is released, it returns to a position within the engagement range set by the elastic force of the coil spring and the sliding resistance force of the O-ring.
  • the operation input unit is applied to the operation unit of the endoscope apparatus.
  • FIG. 20 shows an external configuration of the operation input unit of the endoscope body according to the third embodiment
  • FIG. 21 is a diagram showing an assembly configuration of the operation input unit 61.
  • the operation input unit 61 of the present embodiment is configured to use the elastic force generated by the two spiral springs 87 and 89 instead of the coil spring described above for the torque acting on the dial portion 63.
  • the operation input unit 81 includes a potentiometer 82 and a dial portion 84.
  • the potentiometer 82 has the same configuration as the potentiometer 62 described above, and is provided with two terminals 82a connected to the fixed electrode and one terminal 82a connected to the movable electrode. Detailed description here is omitted.
  • the dial portion 84 includes a restoring force generator and a rotational resistance generator.
  • the restoring force generator includes an attaching nut 86, a cylindrical cap 85, a spiral spring 27 wound in the CCW direction, a fixed plate 88 connecting the springs, a spiral spring 89 wound in the CW direction, and a cylindrical cap 85. It is comprised with the turntable 90 fitted and fixed to.
  • the mounting nut 86 has a polygonal outer shape, for example, an octagonal shape, and has a convex cross section.
  • a through hole for fitting the output shaft 83 of the potentiometer 82 and penetrating the output shaft 23 is formed in the center of the nut.
  • An annular groove is formed on the inner peripheral surface of the through hole, and an O-ring 91 is fitted therein. This groove is formed by adjusting the depth of the groove so that when the O-ring 91 is fitted, about half of the diameter ⁇ of the O-ring 91 is exposed.
  • the exposed outer portion of the O-ring 91 is pushed from the output shaft 83 and slightly deformed.
  • This deformed portion serves as a rotation resistance generating portion, and generates a locking force (engagement) against rotation due to sliding resistance, that is, a rotation resistance force.
  • the cylindrical cap 85 also has a function of an operation dial.
  • the cylindrical cap 85 accommodates a winding spring 87, a fixed plate 88, and a spiral spring 29 assembled as will be described later, and the rotating plate 90 is applied and screwed.
  • the fixed plate 88 is housed in the cylindrical cap 85 and has a disk shape having a diameter separating the spiral springs 87 and 89, and a through hole through which the output shaft 83 passes is formed at the center. Further, fixing pins are erected on the outer peripheral sides of both surfaces of the fixing plate 88, and fixing tubes provided at the outer peripheral end portions of the spiral springs 87 and 89 are rotatably fitted to these pins. Combined.
  • the fixed plate 88 functions as a hub for spiral springs 87 and 89 arranged on both sides.
  • the turntable 90 has a hole (bottomed hole) into which the output shaft 83 is fitted at the center, and a horizontal hole formed in the lateral direction is formed near the bottom. Similar to the second embodiment described above, the output shaft 64 and the rotating disk 90 are fixed by screwing a screw hole formed on the side of the distal end of the output shaft 83 with a hexagon socket set screw through a horizontal hole. Engaged.
  • the spiral spring 87 is fitted into an annular convex portion (the same as that provided on the rotating disk 90) provided in the center of the cylindrical cap 85 and not shown, and the inner end of the spiral spring 87 is inserted. Is fixed to the annular projection.
  • the spiral spring 87 is wound several times in the CW direction (depending on the magnitude of the spring constant), the fixing tube is fitted into the fixing pin of the fixing plate 88, and the wound state is maintained. Further, the spiral spring 89 is fitted into an annular convex portion provided in the center of the fixed plate 88, the other end of the spring is fixed, and the same number of times as the spiral spring 87 is wound in the CCW direction. Install so that it fits into the fixing pin on the opposite side. By this assembly, a restoring force generating part is produced. Further, the mounting nut 86 is mounted on the cylindrical cap 85 and the output shaft 83 of the potentiometer 82 is inserted into the through hole of the mounting nut 86. As described above, the output shaft 4 and the turntable 90 are engaged by screwing with a hexagon socket set screw or the like through the lateral hole of the turntable 90.
  • FIG. 23 shows an engagement range and a neutral return range based on the spring characteristics and rotation resistance characteristics of the operation input unit.
  • the horizontal axis indicates the rotation angle of the cylindrical cap 85 by rotation and the angle rotation angle of the bending portion relative to the rotation angle
  • the vertical axis indicates the rotational torque acting on the cylindrical cap 85. ing.
  • the angle rotation angle ⁇ of the curved portion is MAX ⁇ 160 degrees.
  • the maximum rotation angle of the cylindrical cap 85 and the angle rotation angle of the curved portion are design matters and are appropriately set angles.
  • This spring characteristic includes a CW characteristic and a CCW characteristic indicating the elastic force of two spiral springs 87 and 89 having a neutral position (approximately 0 degrees) in line symmetry and different winding directions.
  • the rotational torque at the neutral position in the cylindrical cap 85 is Tc
  • the maximum rotational torque T of each spiral spring 87, 89 is ⁇ Tmax
  • the minimum rotational torque T is Tmin.
  • the portion used by this spring characteristic has a linear V shape.
  • the rotational resistance force To is shown as a sliding resistance characteristic of the O-ring 91, specifically, is a sliding resistance between the O-ring 91 and the output shaft 83, and is a constant value.
  • the position where the CW characteristic and the rotational torque T intersect is the rotational angle - ⁇ r of the cylindrical cap 85
  • the position where the CCW characteristic and the rotational torque T intersect is the rotational angle ⁇ r.
  • the rotation angle range of ⁇ r to ⁇ r is an engagement range in which the position of the cylindrical cap 85 is held. Further, the rotation angle ranges corresponding to -Tmax to - ⁇ r and ⁇ r to Tmax are set as the neutral return range.
  • the engagement range is set within a rotation angle of ⁇ 90 degrees around the neutral position.
  • the return position can be set freely, and can be set so as to return to the neutral position (initial position) or a position in the vicinity thereof.
  • the operation input unit of this embodiment uses a spiral spring, it can be made more compact, and the number of rotations of the cylindrical cap (operation dial) can be set higher than that of the coil spring. It is possible to change the angle by a small angle.
  • FIG. 24 is a diagram illustrating a configuration of a conceptual electric bending endoscope system including an operation unit according to the fourth embodiment.
  • the operation unit 3 has a rectangular parallelepiped shape
  • the surface on which the UD operation dial is disposed is the front surface
  • the surface on which the palm abuts on the opposite surface is the back surface
  • the universal cable 5 Is defined as a first side surface
  • a surface on which the operation input unit 101 is disposed is defined as a second side surface.
  • the side to which the grip portion 23 is connected is a base end portion or a lower portion
  • the opposite side is an upper portion (or an upper surface).
  • the endoscope apparatus includes a medical endoscope apparatus for observing the inside of a lumen or a body cavity of a living body or the like, and an industrial endoscope for observing the internal state of a pipe or an engine. Applies to equipment.
  • the electric bending endoscope system of the present embodiment is mainly composed of an endoscope body 4 and a drive control device (not shown).
  • the endoscope body 4 is provided with an insertion portion 2 to be inserted into the lumen, an operation portion 3 provided on the proximal end side of the insertion portion 2, and a connector that can be connected to the drive control device at the end portion.
  • a bending mechanism (not shown).
  • the drive control device has a known configuration, for example, an image processing unit that performs image processing on a captured video signal, a universal light source unit that generates illumination light, and a component provided in an imaging unit and an operation unit described later.
  • a control unit that performs overall control including each drive control, a motor drive power supply unit that supplies drive power to a drive source (power unit: bending drive motor 31) that drives the bending mechanism, and image processing
  • an input device such as a keyboard for performing setting and selection.
  • the drive source (motor 31) may be provided in the operation unit 3 as shown in FIG. 1 or may be provided in the connector of the universal cable 5.
  • the bending mechanism is provided in the universal cable 5 and has flexibility so that rotation can be transmitted from one end to the other end.
  • the driving force generated by the driving source (motor 31) is transmitted to the operation unit 3 via the coil shaft.
  • the control unit sends an instruction signal to bend the bending portion 7 to the motor drive power supply unit in accordance with a rotation operation (moving position) of an operation dial 105 (input operation portion 4) of the operation input unit 101 described later. 31 is driven to perform a bending operation.
  • the insertion part 2 includes a grip part 23 held by the operator on the proximal end side, a long flexible tube (flexible tube part) 8, and a bending part provided on the distal end side of the flexible tube 8. 7 and a distal end portion 6 provided on the distal end side of the bending portion 7.
  • the grip portion 23 is provided with a forceps port 25 for inserting a treatment tool such as forceps, and a through hole is formed in the flexible tube 8.
  • a cleaning nozzle for cleaning the imaging portion, the illumination light irradiation window, and the imaging portion is disposed on the distal end surface, and is further inserted into the forceps inlet 25 through the through hole. The forceps opening is opened.
  • a bending drive motor 31 serving as a drive source for the bending unit 7 is disposed integrally with the operation unit casing.
  • a UD operation dial 14 that is manually rotated to perform a bending operation in the up / down direction is provided on the front surface of the operation unit 3, and a UD that temporarily locks the UD operation dial 14 is provided in the vicinity thereof.
  • a brake dial 28 is disposed.
  • An operation input unit 101 is provided on the second side surface side of the operation unit 3.
  • the operation input unit 101 corresponds to an RL operation dial for performing a bending operation in an RL (right / left) direction.
  • a plurality of wires are wired in the bending portion 7, one end side of each wire is connected to a motor driving mechanism (curving unit) driven by the motor 31, and the other end side is The plurality of bending pieces constituting the bending portion 7 are connected to each other. The wire pulled by the motor drive mechanism pulls the bending piece, and the bending portion 7 is bent.
  • the operator when the operator grips the operation unit 3, as an example, the operator holds the universal cable 5 with the base portion between the thumb and the index finger in contact, and directs the thumb to the UD operation dial 14. In this case, the palm is put on the back side, and the little finger or the ring finger is placed in the gripping state where the operation dial 105 of the input operation part (RL operation unit) 101 is addressed.
  • RL operation unit input operation part
  • FIG. 25 is a diagram illustrating an arrangement configuration example of the input operation portion and the neutral return mechanism of the input unit separately arranged in the operation unit.
  • FIG. 26 conceptually shows the positional relationship between the input operation site and the neutral return mechanism arranged on the substrate viewed from the front (main surface) of the substrate, and
  • FIG. 27 shows the input operation site and the neutral return mechanism viewed from the side of the substrate. It is a figure which shows notionally the arrangement
  • a substrate 103 on which various electrical components are mounted is accommodated.
  • the input unit 101 is separated into an input operation part (operator) 104 and a neutral return mechanism (force generation unit: return force generation unit) 102 which are input units, and is arranged on both sides of the substrate 103 respectively.
  • (Engagement part) 106 so that it can be driven.
  • the neutral return mechanism 102 is arranged in the operation unit casing on the side to which the universal cable 5 is connected.
  • the neutral return mechanism 102 is arranged in an empty space in the casing and connected.
  • the mechanism 106 can be connected.
  • FIG. 28A is a diagram showing a detailed configuration of an input operation part
  • FIG. 28B is a diagram showing an external appearance of an exterior bracket
  • FIG. 28C is a diagram showing a configuration of an operator main body.
  • the input operation part 104 includes an operation element main body 114 and a bracket 120.
  • the operator main body 114 has the tip of the output shaft 121 extending from the potentiometer 123 and the tip of the operation shaft 133 extending from the operation dial 105 fit the unevenness provided on each. Connected.
  • a potentiometer 123 that functions as a rotation angle detection unit that detects the rotation angle of the output shaft 121 (operation dial 105) is watertight to the bracket 120 as long as the encoder can detect the angle.
  • a nut 131 for attaching and fixing to the wire and a wire fixing ring 125 for connecting to the wire 110 which is a long member are fitted.
  • the operating shaft 133 has a retaining washer 132 such as an E-ring that prevents the operation dial 105 from coming out of the bracket 120, an O-ring 122 that acts as a watertight and acts as a brake described later, and the O-ring 122 is crushed.
  • An adjusting screw 134 for adjusting the state (braking force) is fitted.
  • the O-ring 122 and the adjustment screw 134 function as a rotation resistance generation unit that generates a rotation resistance that prevents the output shaft 121 from rotating.
  • the bracket 120 has a tube shape and has openings at both ends, and a central portion is cut out over a semicircular shape, and a window 120a is opened.
  • the window 120a is formed so as to be spatially connected to the operation unit case, and is attached to the operation unit case in a watertight manner.
  • the operation element main body 114 exposes a part of the operation dial 105 and the potentiometer 123 from the openings at both ends of the bracket 120, and stores the others in a watertight manner.
  • the operation dial 105 side the operation shaft 133 is inserted from one opening of the bracket 120, the retaining washer 132 is inserted into a groove formed at a predetermined position of the operation shaft 133, and the operation shaft 133 and the output shaft 121 are connected. Secure with. At this time, the O-ring 122 is crushed to prevent water or the like from entering the bracket 120 from the outside.
  • the output shaft 121 is inserted from the other opening, and is fixed to the bracket 120 with a nut 131. At this time, the nut 131 prevents water or the like from entering the bracket 120 from the outside. Moreover, it arrange
  • the output shaft 121 of the potentiometer 123 rotates as a unit, and the volume value between the output ends 123a of a plurality (for example, three terminals) changes to change the input value.
  • the output end 123a is connected to a control unit provided in the operation unit, for example, on the substrate 103, through a wiring (not shown), and instructs the rotation direction of the bending driving motor 210 (the bending direction of the bending unit 207).
  • FIG. 29A is a diagram illustrating an external configuration viewed from above the neutral return mechanism 102
  • FIG. 29B is a diagram illustrating an external configuration viewed from the side of the neutral return mechanism 102
  • FIG. 30A is a diagram illustrating a state of the neutral return mechanism 102 that suppresses the slack of the wire 110 when the operation dial 5 is in the vicinity of the neutral position
  • FIG. 30B illustrates that the brake force acts on the operation dial 105 and the neutral position is set.
  • FIG. 30C is a diagram showing a state where the neutral return mechanism 2 within the center engagement range (angle) does not return, and FIG. 30C rotates the operation dial 105 to apply an elastic force (biasing force) exceeding the braking force.
  • FIG. 8 is a diagram illustrating a state in which the neutral return mechanism 102 returns.
  • the neutral return mechanism 102 includes a spring plate 129a for fixing to the substrate 103, a slide plate 129b, a hook 128a fixed to the spring plate 129a, and a hook 128b fixed to the slide plate 129b.
  • a coil spring (force generating portion) 127a spanned between the hook 128a and the hook 128b, a coil spring 27b having one end mounted on the hook 128b, and a wire to be described later on the other end of the coil spring (force generating portion) 127b. 110, and a positioning plate 135 for positioning the spring plate 129a by screwing the substrate 103.
  • the material of the wire 110 is not particularly limited as long as it has durability against traction by the coil spring 127a and the coil spring 127b and a low elongation rate.
  • fluorocarbon lines and PE lines used for fishing lines are suitable. It is also possible to use an extremely thin and hard metal line used for guitar strings.
  • Two elongated holes 129c and 129d are formed in the spring plate 129a so as to be continuous in the pulling direction of the wire 110.
  • a hook 128b is movably fitted in the long hole 129c and fastened with a fixing bracket such as an E-ring.
  • a slide jig 130 fixed to the slide plate 129b is movable in the long hole 129d. It is fitted and fastened with a fixed washer such as an E-ring. With this configuration, the slide plate 129b can slide in the pulling direction of the wire 110 with respect to the spring plate 129a.
  • the coil spring 127a has an elastic force (spring force) smaller than the maximum braking force of the O-ring 122, and acts to eliminate the slack of the wire 110.
  • the engagement range of the present embodiment is a rotation angle range or a rotational movement distance of the operation dial 105 set depending on the bending angle ⁇ 1 of the bending portion 207 shown in FIG. 24.
  • the bending portion 207 is in a neutral state.
  • the rotation range of the operation dial 105 corresponding to the range from 0 ° to the bending angle ⁇ 1 is the engagement range, and the bending angle is changed from the bending angle ⁇ 1 to the bending angle ⁇ 2.
  • the rotation range of the operation dial corresponding to the above range becomes the neutral return range or the return range. This is because when the rotation position of the operation dial 105 is located in the neutral return range or return range, the neutral return mechanism 102 sets the rotation position of the operation dial 105 within the rotation range (engage range) including the neutral position or neutral position. It suggests that it functions as a return force generating part that generates a return force so as to return to a maximum.
  • the bending angle (bending amount) ⁇ 1 is, for example, 70 ° or less.
  • the neutral return mechanism 102 applies the brake force of the O-ring 122 to keep the operation dial 105 from returning and maintain the bending state of the bending portion 7. .
  • the actual engagement range of the operation dial 105 is determined by the movement distance of the slide plate 129b from the hook 128a, that is, the hole width (length in the longitudinal direction) of the long hole 129c and the position of the hole end.
  • the connection mechanism 106 is a member that connects the input operation portion 104 and the neutral return mechanism 102.
  • the wire 110 includes a wire 110 that connects the wire fixing ring 125 and the wire stopper 126, and direction changing portions 107 and 112 that change the pulling direction of the wire 110.
  • the connection mechanism 106 of the present embodiment is a unit that changes the direction so that the respective pulling directions match because the input operation portion 104 and the neutral return mechanism 102 are arranged on both sides of the substrate 103.
  • the direction changing portion 107 is configured to place two pulleys 108 and 109 rotating in directions orthogonal to each other on an L-shaped fixing bracket in close proximity to each other.
  • the pulley 108 is arranged so as to rotate in parallel with the main surface of the substrate 103
  • the pulley 109 is arranged so as to rotate in parallel with the side surface (end surface) of the substrate 103.
  • the direction changing portion 112 has a configuration in which a pulley 111 that rotates in a direction intersecting with the main surface of the substrate 103 is provided on a fixing bracket having an overhanging support portion.
  • the direction changer 107 receives the wire 110 extending in parallel with the side surface of the substrate 103 from the wire stopper 126 of the neutral return mechanism 102 by the pulley 109 and passes it to the pulley 108, thereby passing in the orthogonal direction, that is, of the substrate 103. Change to the main direction.
  • the direction-changed wire 110 traverses the upper surface of the substrate 103 and is connected to the wire fixing ring 125 via the pulley 111 of the direction changing portion 12.
  • the operation input unit 101 is separated from the input operation portion 104 and the neutral return mechanism 102 and is arranged separately in the operation unit casing, so that the installation position in the casing can be set. It is also possible to use a free space that has been wasted until now. Further, by connecting the input operation part 104 and the neutral return mechanism 102 with a simple configuration, an increase in weight can be suppressed.
  • the operation input unit 101 is disposed separately from the input operation part 104 and the neutral return mechanism 102 in the operation unit 3, a change in the weight balance in the operation unit 3 is suppressed, and the weight increases toward the fingertip side. Can be prevented, and can be held in a balanced manner as in the prior art. Further, by adjusting the adjustment screw 134 at the input operation portion 104, the crushing state of the O-ring 122 can be changed and the braking force can be adjusted. Even if the O-ring 122 has manufacturing variations, Fine adjustment can be easily performed.
  • the neutral return mechanism 102 By using springs with different elastic forces in the neutral return mechanism 102, the bending state of the bending portion 7 is maintained without returning to the neutral position even if the finger is released from the operation dial 105 within the preset engagement range. Can be made. Further, when a rotation operation exceeding the engagement range is performed, the neutral position or at least within the engagement range can be restored.
  • This engagement range is mechanically set by the movement distance of the ride plate 129b, and can be finely adjusted by adjusting the relationship between the elastic force of the coil spring 127a and the braking force by the O-ring 122. Also, at the start of neutral return, the return can be started gradually by adjusting the braking force by the O-ring 122.
  • the input operation site 104 and the neutral return mechanism 102 are connected by a wire 110 that is a long member.
  • a wire 110 that is a long member.
  • the long member may be formed of an elastic member such as.
  • FIG. 31 is a diagram illustrating a conceptual configuration of an input unit on which the brake mechanism according to the fifth embodiment is mounted.
  • 32A is a view of the brake mechanism as viewed from the front side
  • FIG. 32B is a view of the brake mechanism as viewed from the side
  • FIG. 32C is a view of the brake mechanism as viewed from diagonally above
  • FIG. FIG. 32E is an oblique view of the brake mechanism as seen from the back side.
  • This embodiment differs in the structure of the brake mechanism in the input unit of 1st Embodiment mentioned above, and a structure other than this is equivalent.
  • This embodiment has a configuration in which a brake mechanism 141 is provided in the direction changing portion 107 of the coupling mechanism 106 in place of the braking action by the O-ring 122 of the fourth embodiment described above, as shown in FIG.
  • the O-ring 122 is not used as a brake but is used as a watertight waterproof member.
  • the brake mechanism 141 includes a brake cover 142 fitted to the fixing bracket of the direction changing portion 107, a brake jig 143 provided on the brake cover 142, and a braking force.
  • a brake screw 144 for adjustment and a sliding member 145 serving as a braking portion are configured.
  • the brake mechanism 141 is configured to apply braking by pressing the sliding member 145 against the pulley 8 of the direction changing portion 107.
  • the brake cover 142 is provided with an engagement plate portion 142a provided with a hook 142c to be fitted and locked in the opening of the fixing bracket, and when the braking cover 142 is fitted to the fixing bracket.
  • a brake plate portion 142b facing the pulley 108 is integrally formed.
  • the cylinder plate 142b is formed with a cylindrical fixed portion, and a cylindrical brake jig 143 is fitted in the fixed portion.
  • a female screw is formed in the center of the brake jig 143, and a brake screw 144 is screwed therein.
  • a pad-shaped sliding member 145 that functions as a brake is provided on the distal end side of the brake screw 144.
  • One end of the wire 110 is fixed to the output shaft 121 by a wire fixing ring 125, and is wound around the pulley 108 on the way.
  • the pulley 108 rotates in accordance with the pulling operation of the wire 110.
  • the pulley 108 is given a rotational resistance that prevents the rotation by the sliding member 145, so that the movement of the wire 110 is stopped. That is, the brake mechanism 141 can generate a rotational resistance that prevents the output shaft 121 from rotating. Therefore, the brake mechanism 141 functions as a rotation resistance generating unit that generates a rotation resistance force that stops the return force that returns the operation dial 105 to the neutral position within the rotation range including the neutral position.
  • the sliding member 145 an elastic member made of a rubber material or the like, a resin material, or the like can be used.
  • the O-ring 122 is requested to have a watertight function and a brake function.
  • the watertight function is required for the O-ring 122 and the brake mechanism 141 is provided separately.
  • FIG. 33A is a view of the brake mechanism of the sixth embodiment as viewed from the front side
  • FIG. 33B is a view of the brake mechanism as viewed from the side.
  • the sliding member is brought into contact with the pulley for braking, but the brake mechanism 150 of the present embodiment slides on the side surface of the cam 151 integrated with the pulley 108. It is the structure which presses and brakes the member 152.
  • FIG. 33A is a view of the brake mechanism of the sixth embodiment as viewed from the front side
  • FIG. 33B is a view of the brake mechanism as viewed from the side.
  • the sliding member is brought into contact with the pulley for braking, but the brake mechanism 150 of the present embodiment slides on the side surface of the cam 151 integrated with the pulley 108. It is the structure which presses and brakes the member 152.
  • the brake mechanism 150 of the sixth embodiment includes a disc-shaped brake cam plate 151 fixed to the flange surface of the pulley 108, and a sliding member 52 that presses against the side surface of the brake cam plate 151 to brake.
  • the brake cam plate 151 has a disk shape having different radii R1, R2 (R1 ⁇ R2) for each semicircle.
  • the outer peripheral surface with the radius R1 is referred to as a braking side surface 151a
  • the outer peripheral surface with the radius R2 is referred to as a non-braking side surface 151b.
  • a sliding member 152 which is moved forward and backward by a moving mechanism (not shown) so as to be pressed against the braking side surface 151a is disposed.
  • the sliding member 152 is arranged at the center position of the braking surface 151a.
  • the braking force is effectively generated by forming the sliding surface 151a of the sliding member 152 in contact with the plate surface into a curved shape along the circumferential shape of the brake cam plate 151.
  • the half-braking range and the non-braking range of the brake cam plate 151 are divided into two, but this ratio can be changed according to the design specifications, and the radius can be set as appropriate. Also, not only the curved sliding surface but also the thickness of the brake cam plate 151, that is, the area contacting the sliding member 152 can be changed to change the braking force.
  • One end of the wire 110 is fixed to the output shaft 121 by a wire fixing ring 125 and is wound around the pulley 108 in the middle.
  • the pulley 108 rotates in accordance with the pulling operation of the wire 110. Further, when the sliding member 152 is pressed against the integral brake cam plate 151, the pulley 108 is given a rotation resistance that prevents the rotation, and the movement of the wire 110 is stopped. That is, it is possible to generate a rotational resistance that prevents the output shaft 121 from rotating. Therefore, the brake mechanism 150 functions as a rotation resistance generation unit that generates a rotation resistance force for stopping the return force that the operation dial 105 returns to the neutral position within the rotation range including the neutral position.
  • the brake cam plate 151 having a uniform thickness is proposed.
  • the braking force transmitted when the operation dial 105 is rotated by partially changing the thickness (the height of the braking side surface 151a).
  • the operator has empirically understood the bending angle of the bending portion 7 when he / she reaches the end of the engagement range, the operator can easily estimate the bending state at that time by the change in the braking force felt at the fingertip. it can. Therefore, it is also possible to estimate the current bending angle by making the thickness of the braking surface 151a into a plurality of thicknesses within a range where the change of the braking force can be felt with the fingertip.
  • the rotation angle of the brake cam plate 151 by the rotation operation of the operation dial 105 is the center position (sliding member 152).
  • the braking surface 151a is disengaged from the sliding member 152 from a position where the central position of the brake cam plate 151 and the central position of the brake cam plate 151 are opposed to each other, and is set within an angle to the opposite end of the non-braking side surface 151b. This can be implemented by setting the diameter of the pulley 108 and the diameter of the brake cam plate 151.
  • this brake mechanism 150 when slip occurs between the pulley 108 and the wire 110 and the wire 110 slides even when the pulley 108 is stopped, as shown in FIG. 33B. It is necessary to stop the slip of the wire 110 by winding the wire 110 around the pulley 108 at least once. As described above, according to the input unit of the present embodiment, in addition to the operational effects of the fourth embodiment described above, it is possible to generate a braking force with a simple brake mechanism configuration.
  • FIG. 34A is a diagram of a brake mechanism provided in the operation unit of the fourth embodiment as viewed from the front side
  • FIG. 34B is a diagram illustrating a detailed configuration of the brake mechanism.
  • This embodiment differs in the structure of the brake mechanism in the input unit of 4th Embodiment mentioned above, and other structures are equivalent.
  • the brake mechanism 155 of the present embodiment includes a sliding member 156 disposed on the substrate 103, an annular braking member 157 fitted into the wire 110 that slides with the sliding member 156, Consists of.
  • the sliding member 156 is formed such that a U-groove is formed at the center and the braking member 157 slides on the wall surface of the U-groove.
  • the brake range in the brake mechanism 155 that is, the engagement range is within a range in which the braking member 157 is in contact with the U groove of the sliding member 156. At the position where the center position of the U groove and the center position of the braking member 157 overlap (neutral position), the bending portion 7 becomes linear.
  • the brake mechanism 155 generates a frictional resistance that prevents the pulling operation with the braking member 157 sandwiching the wire 110, and generates a rotational resistance force that prevents the output shaft 121 from rotating. That is, the brake mechanism 155 functions as a rotational resistance generating unit that generates a rotational resistance for stopping the return force that the operation dial 105 returns to the neutral position within the rotational range including the neutral position.
  • the brake mechanism can be realized with an extremely simple configuration, can be downsized, and the increase in weight can be suppressed to a low level. Further, the engagement range can be changed only by changing the length of the sliding member 156 (the length of the groove).
  • the brake mechanism 155 is shown as a combination of a pair of sliding members 156 and a braking member 157.
  • the present invention is not limited to this, and the plurality of sliding members 156 are spaced apart from each other on the substrate 3. And a braking member 157 may be disposed.
  • FIG. 35A is a diagram of a brake mechanism provided in the operation unit of the fifth embodiment as viewed from the front side
  • FIG. 35B is a diagram illustrating a detailed configuration of the brake mechanism. This embodiment differs in the structure of the brake mechanism in the input unit of 4th Embodiment mentioned above, and other structures are equivalent.
  • the brake mechanism 161 of this embodiment includes a worm gear (rotation transmission member) 162 that meshes with a gear (not shown) formed on the output shaft 121 and a gear (not shown) on the back side that meshes with the worm gear 162. Are formed, and a sliding member 164 that slides in contact with a flat braking surface of the sliding member 163.
  • the output shaft 121 connected to the operation shaft 133 is rotated by the rotation operation of the dial operation unit 105.
  • the rotation of the output shaft 121 is transmitted to the meshing worm gear 162 (CW / CCW).
  • the slide member 163 moves according to the rotation direction of the worm gear 162, and the braking surface of the slide member 163 is slid on the sliding member 164 to generate a braking force.
  • the slide member 163 is moved in any repetition direction according to the rotation direction (CW / CCW) of the dial operation unit 105.
  • the neutral position of the dial operation unit 105 is a position where the area where the slide member 163 contacts the slide member 164 is the largest. In FIG. 35 (b), the end of the slide member 163 is located closest to the nut 131 side. As the dial operation unit 105 is rotated, the slide member 163 moves while sliding with the slide member 164 and comes off the slide member 164. In the present embodiment, the engagement range in which the braking force is applied while the slide member 163 is in contact with the slide member 164. This means that by generating a frictional resistance at the contact surface between the sliding member 163 and the sliding member 164, it is possible to generate a rotational resistance force that prevents the output shaft 121 from rotating. That is, the brake mechanism 161 functions as a rotational resistance generating unit that generates a rotational resistance for stopping the return force that the operation dial 105 returns to the neutral position within the rotational range including the neutral position.
  • FIG. 36A is a diagram illustrating a conceptual configuration of a neutral return mechanism provided in the operation unit according to the ninth embodiment
  • FIG. 36B is a diagram illustrating a state of an elastic member when the operation dial is rotated in the m direction
  • FIG. 36C is a diagram showing a state of the elastic member when the operation dial is rotated in the n direction.
  • the configuration of the neutral return mechanism in the input unit of the fourth embodiment described above is different, and the other configurations are the same.
  • the operation dial 105 is attached to the tip of the shaft (output shaft 121 or operation shaft 133) 174 of the potentiometer 123, and a pulley 175 is fitted in the middle of the shaft (or operation shaft 133) 74.
  • Neutral return mechanisms 171 and 172 having the same elastic force (tension) are fixed at one end to either the operation unit 3 casing or the bracket 120 with the potentiometer 123 interposed therebetween.
  • the neutral return mechanisms 171 and 172 of this embodiment are assumed to have the same configuration as that of the fourth embodiment described above. Both ends of the wire 110 are fixed to the neutral return mechanisms 171 and 172 via two pulleys 173 and 175 on the way. That is, in FIG.
  • the wire 110 is wound around the pulley 175 at the center position of the length of the wire 110 and fixed to the neutral return mechanisms 171 and 172 through the pulleys 173, respectively, and suspended with the same tensions TA and TB. Stops together. The position of the operation dial 105 at this time is set to the neutral position.
  • the neutral return mechanisms 171 and 172 are shown as being arranged in the vicinity of the potentiometer 123. can do. Further, in this embodiment, the center position (length) of the wire 110 is set to be wound around the pulley 175 provided on the shaft, but the wire 110 does not have to be the same length on the left and right. In other words, the neutral return mechanisms 171 and 172 only need to apply tension to the pulley 175 when the operation dial 105 is in the neutral position or the engagement range.
  • the wire 110 is not at the center position where the length is the same, but the wire 110 has a short length difference on either side. Can also be implemented. As described above, the input unit of the present embodiment is pulled by the wire 110 with the same tension from the left and right, so that the structure for supporting the shaft can be simplified rather than the structure in which the wire is wound around the shaft.
  • FIG. 37 is a diagram illustrating a conceptual configuration of a neutral return mechanism provided in the operation unit according to the tenth embodiment.
  • an operation dial 105 is attached to one end of the output shaft, and a wire fixture 184 of the wire 110 is attached to the other end.
  • One end of the wire 110 is fixed to the wire fixture 184.
  • the other end of the wire 110 is converted into the extending direction of the output shaft by a pulley 183 and is directed to the operation dial 105 side and connected to the neutral return mechanism 182.
  • the neutral return mechanism 182 has the same configuration as that of the neutral return mechanism 102 of the fourth embodiment, and is fixed to the above-described substrate 103, the operation unit housing, or the bracket 120 of the input operation portion 104.
  • FIG. 38 is a diagram illustrating a conceptual configuration of a neutral return mechanism provided in the operation unit according to the eleventh embodiment.
  • the operation dial 105 is attached to the tip of the output shaft of the potentiometer 123, and a wire fixing tool is attached to the output shaft to fix one end of the wire 110.
  • the direction of the other end of the wire 110 is changed to the extending direction of the output shaft by a tyco roller 187, and is directed to the potentiometer 123 and connected to the neutral return mechanism 186.
  • the neutral return mechanism 186 has the same configuration as that of the neutral return mechanism 102 of the fourth embodiment, and is fixed to the above-described substrate 103, the operation unit housing, or the bracket 120 of the input operation portion 104.
  • the structure of the input unit can be simplified and further miniaturization can be realized.
  • FIG. 39 is a diagram illustrating a conceptual configuration of a neutral return mechanism provided in the operation unit according to the twelfth embodiment.
  • the operation dial 105 is attached to the tip of the output shaft of the potentiometer 123.
  • a wire 110 fixed to two neutral return mechanisms 191 and 192 disposed on both sides rearward of the potentiometer 123 extends and is wound around the output shaft in an eight-letter shape.
  • the two neutral return mechanisms 191 and 192 have the same configuration as the neutral return mechanism 102 of the fourth embodiment.
  • the wire 110 when the operation dial 105 is rotated in either direction, the wire 110 is wound around the output shaft. For example, when the wire 110 is drawn out to the neutral return mechanism 191 side, the spring of the neutral return mechanism 192 is pulled. The elastic force is generated so that the operation dial 105 returns to the neutral position or the engagement range.
  • the operation dial 105 is rotated in the opposite direction, the wire 110 is drawn out to the neutral return mechanism 192 side, and the spring of the neutral return mechanism 191 is pulled to return to the neutral position or the engagement range of the operation dial 105.
  • An elastic force is generated.
  • the surface of the output shaft is subjected to a processing process such as forming a film of an elastic material so that the wire 110 is easily entangled. According to the present embodiment, in addition to the operational effects of the fourth embodiment, the structure can be simplified and further miniaturization can be realized.
  • FIG. 40 is a diagram illustrating a conceptual configuration of a neutral return mechanism provided in the operation unit according to the thirteenth embodiment.
  • the operation element main body 193 of this embodiment has an operation dial 105 attached to the tip of the output shaft of the potentiometer 123.
  • a bevel gear 194 is fitted in the middle of the output shaft of the potentiometer 123, and a wire fixing roller 195 having a bevel gear 195a that meshes with the bevel gear 194 is provided.
  • One end of the wire 110 is fixed to the wire fixing roller 195 and extends in the output shaft direction, and the other end is connected to the neutral return mechanism 196.
  • the neutral return mechanism 196 has the same configuration as the neutral return mechanism 102 of the fourth embodiment.
  • the structure of the input unit can be simplified and further miniaturization can be realized.
  • FIG. 41 is a diagram illustrating a conceptual configuration of the input operation portion 197 of the input unit of the operation unit according to the fourteenth embodiment.
  • the tip of the output shaft of the potentiometer 123 and the tip of the operation shaft extending from the operation dial 105 are connected by fitting the unevenness provided on each.
  • the output shaft and the operation shaft in the rotation operation of the operation dial are integrally rotated one to one.
  • a gear 198 is attached to the tip of the operation shaft, and a planetary gear 199 is attached to the tip of the output shaft.
  • the stroke of the spring in the neutral return mechanism is shortened by making the rotation amount (rotation angle) of the output shaft larger than the rotation amount (rotation angle) of the operation shaft by the rotation operation of the operation dial.
  • the neutral return mechanism can be reduced in size, so that even when the arrangement space is narrow, the arrangement is further performed. It becomes easy to do.
  • FIG. 42A is a diagram showing a conceptual configuration of a brake mechanism provided in the operation unit of the twelfth embodiment
  • FIG. 42B is a diagram showing a return range when the operation dial is rotated
  • FIG. 42C is a diagram It is a figure which shows the AA cross section of 42A.
  • This embodiment differs in the structure of the brake mechanism in the input unit of 4th Embodiment mentioned above, and other structures are equivalent.
  • the operation dial 105 exposed to the outside is attached to the tip of the output shaft 201 of the potentiometer 123 in the operation unit housing in a watertight manner.
  • the output shaft 201 is screwed in a spiral shape, and a moving arm 202 having a rounded arm tip is screwed to be movable.
  • the moving arm 202 is provided with a rotation stopping member 204 provided with a sliding member 203 on which the arm tip slides.
  • a rotation detection sensor 205 that detects the rotation of the output shaft of the potentiometer 123 is connected.
  • the rotation stopper member 204 is formed with a groove through which the arm tip can pass.
  • a sliding member 203 made of an elastic material and having a trapezoidal protrusion at the center is attached in the groove.
  • the convex portion to which the arm tip passing through the groove is pressed acts as a brake member, and the braking range corresponds to the engagement range.
  • the range from the central position 0 of the braking range L1 to the ends of both protrusions corresponds to the bending range ⁇ 1 of the bending shown in FIG.
  • a range L2 from the end of the convex portion to the maximum movement position is a neutral return range or a return range.
  • the neutral return range or the return range suggests that the arm tip, that is, the operation dial 105 returns to the neutral position or the engagement range.
  • the sliding member 203 and the moving arm 202 function as a rotational resistance generating unit that generates a rotational resistance for stopping the return force that the operation dial 105 returns to the neutral position within the rotational range including the neutral position. To do.
  • the structure of the input unit can be simplified and further miniaturization can be realized.
  • the embodiment of the present invention described above includes the following gist. (1) a bending portion that can be bent in a first direction; A rectangular grip having a longitudinal axis; A bending unit that is connected to the grip and includes a first bending mechanism that bends the bending portion in the first direction; An input unit having an input unit that is connected to the grip or the bending unit and receives an operation input for operating the bending unit that is movable in a direction substantially perpendicular to the longitudinal axis; A power unit that is coupled to the first bending mechanism and generates a driving force for driving the bending to bend; A control unit for outputting to the power unit a control signal for controlling the bending of the bending portion based on an input amount of the operation input; An engaging portion that is movably engaged with the input portion; and a force generating portion that generates a force that pulls the input portion in a direction opposite to the moving direction of the input portion when pulled by the input portion; A force generating unit provided at a position spaced from the input unit
  • the insertion device (2) The insertion device according to (1), wherein the input unit is provided at a position opposite to an arrangement position of a thumb of a hand holding the grip across the longitudinal axis.
  • the bending portion can be bent in a second direction substantially orthogonal to the first direction,
  • the bending unit includes a dial that has a first rotation axis and receives an operation input for bending the bending portion in the second direction;
  • the input unit includes a second rotating shaft extending in the longitudinal axis direction, and a dial that rotates together with the second rotating shaft, The insertion device according to (2), wherein the control unit detects a rotation amount of the second rotation shaft as the input amount.
  • the force generation unit includes a flexible long wire and a spring coupled to the wire, and is stretched between the engagement unit and the fixing unit (1)
  • the force generating part has a stirrable, long and elastic wire, The insertion device according to (1), wherein the insertion device is stretched between the engagement portion and the fixing portion.
  • the force generator A long wire having flexibility, a first spring connected to one end of the wire, and a second spring connected to the other end of the wire;
  • the fixing portion includes a first fixing portion that fixes the first spring to the grip or the bending unit;
  • a second fixing portion for fixing the second spring to the grip or the bending unit;
  • the force generation unit is the insertion device according to (1), wherein an intermediate portion of the wire is wound around the second rotation shaft.
  • (8) a path defining unit that defines the path of the wire; A resistance adding portion for adding sliding resistance to the path defining portion or the wire;
  • the insertion device according to any one of (5) to (7).
  • the bending amount bent by the control unit corresponding to the input amount at a position where the sliding resistance and the force pulling the input unit are balanced is the predetermined bending amount or less.
  • Insertion device (10) The insertion device according to (9), wherein the predetermined bending amount is smaller than a maximum bending angle of the bending portion. (11) The insertion device according to (9), wherein the predetermined bending angle is 70 degrees or less.
  • An insertion portion having a bending portion that bends in a uniaxial direction on the distal end side; An operation portion provided on a proximal end side of the insertion portion and having a bending operation input portion for inputting an instruction to bend the bending portion by a rotation operation;
  • the bending operation input unit includes: An elastic member having one end attached to the frame of the bending operation input unit; A contact portion disposed on the other end side of the elastic member; An action portion that moves in accordance with a rotation operation input, abuts against the abutment portion, and compresses the elastic member; The amount of movement of the action portion is made to correspond to the amount of bending operation input in one axial direction of the bending portion, After stopping the rotation operation input to the bending operation input part in a state where the action part is in contact with the contact part and compresses the elastic member, the action part is not subjected to elastic force by the elastic member.
  • An endoscope apparatus characterized in that it returns to the range.
  • the range in which the elastic force is not applied is that the bending portion is not bent, the neutral position of the action portion of the bending operation input portion, and the contact when the elastic member is in a natural length state.
  • the uniaxial directions are a left direction and a right direction
  • the elastic member has a left-direction bending elastic member and a left-direction bending contact portion for bending the bending portion in the left direction, and the contact portion bends in the right direction to bend the bending portion in the right direction.
  • An elastic member and a rightward bending contact portion, The left bending elastic member and the left bending contact member, and the right bending elastic member and the right bending contact member are arranged separately from each other with respect to the action portion.
PCT/JP2013/055186 2012-02-27 2013-02-27 操作入力部を備える挿入装置 WO2013129494A1 (ja)

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CN201380011242.4A CN104135907B (zh) 2012-02-27 2013-02-27 具有操作输入部的插入装置
JP2013545574A JP5583860B2 (ja) 2012-02-27 2013-02-27 操作入力部を備える挿入装置
EP13755253.5A EP2821000A4 (en) 2012-02-27 2013-02-27 INSERTING DEVICE WITH OPERATION ENTRY UNIT
US14/061,187 US9237837B2 (en) 2012-02-27 2013-10-23 Insertion device with the operation input unit

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JP2012-040407 2012-02-27
JP2012040407 2012-02-27
JP2012241745 2012-11-01
JP2012-241745 2012-11-01

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US14/061,187 Continuation US9237837B2 (en) 2012-02-27 2013-10-23 Insertion device with the operation input unit

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US20140135580A1 (en) 2014-05-15

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